Update constraint creator widget

plugins/hppmanipulationwidgetsplugin/manipulationconstraintwidget.cc

@@ -52,13 +52,7 @@ namespace hpp {
     void ManipulationConstraintWidget::confirmNumerical()
     {
       HppManipulationWidgetsPlugin* plugin = dynamic_cast<HppManipulationWidgetsPlugin*>(plugin_);
-      QStringList l;
-
-      for (int i = 0; i < ui->nameList->count(); i++) {
-        QListWidgetItem* item = ui->nameList->item(i);
-        l << item->text();
-      }
-      ManipulationNCPicker* ncp = new ManipulationNCPicker(l, plugin);
+      ManipulationNCPicker* ncp = new ManipulationNCPicker(plugin);
 
       ncp->show();
     }

plugins/hppmanipulationwidgetsplugin/manipulationncpicker.cc

@@ -9,10 +9,9 @@
 
 namespace hpp {
   namespace gui {
-    ManipulationNCPicker::ManipulationNCPicker(QStringList const& names,
-                                               HppManipulationWidgetsPlugin* plugin,
+    ManipulationNCPicker::ManipulationNCPicker(HppManipulationWidgetsPlugin* plugin,
                                                QWidget* parent)
-        : NumericalConstraintPicker(names, plugin, parent)
+        : NumericalConstraintPicker(plugin, parent)
     {
       listComp_ = new QListWidget(this);
       hpp::GraphComp_var graphComp;
@@ -47,27 +46,27 @@ namespace hpp {
 
     void ManipulationNCPicker::onConfirmClicked()
     {
-      QList<QListWidgetItem*> selectedConst = ui->constraintList->selectedItems();
+      QList<QListWidgetItem*> lj = ui->lockedJointList->selectedItems();
+      QList<QListWidgetItem*> nc = ui->numericalList->selectedItems();
       hpp::Names_t_var constraints = new hpp::Names_t;
       hpp::Names_t_var locked = new hpp::Names_t;
       hpp::Names_t_var dofs = new hpp::Names_t;
       QList<QListWidgetItem*> selectedComp = listComp_->selectedItems();
       HppManipulationWidgetsPlugin* plugin = dynamic_cast<HppManipulationWidgetsPlugin*>(plugin_);
 
-      constraints->length(selectedConst.count());
-      locked->length(selectedConst.count());
-      int iC = -1;
-      int iL = -1;
-      foreach (QListWidgetItem* item, selectedConst) {
-        if (!item->text().startsWith("lock_")) {
-          constraints[++iC] = item->text().toStdString().c_str();
-        }
-        else {
-          locked[++iL] = item->text().toStdString().c_str();
-        }
+      constraints->length(nc.count());
+      locked->length(lj.count());
+      int i = 0;
+      foreach (QListWidgetItem* item, lj) {
+          locked[i] = item->text().toStdString().c_str();
+          ++i;
       }
-      locked->length(iL + 1);
-      constraints->length(iC + 1);
+      i = 0;
+      foreach (QListWidgetItem* item, nc) {
+          constraints[i] = item->text().toStdString().c_str();
+          ++i;
+      }
+
       foreach (QListWidgetItem* item, selectedComp) {
         if (constraints->length())
           plugin->manipClient()->graph()->setNumericalConstraints(components_[item->text().toStdString()].id,

plugins/hppmanipulationwidgetsplugin/manipulationncpicker.hh

@@ -21,7 +21,7 @@ namespace hpp {
       virtual void onConfirmClicked();
 
     public:
-      ManipulationNCPicker(QStringList const& names, HppManipulationWidgetsPlugin* plugin,
+      ManipulationNCPicker(HppManipulationWidgetsPlugin* plugin,
                            QWidget* parent = 0);
       virtual ~ManipulationNCPicker();
 

plugins/hppwidgetsplugin/constraintwidget.cc

@@ -77,12 +77,7 @@ namespace hpp {
 
     void ConstraintWidget::confirmNumerical()
     {
-      QStringList l;
-      for (int i = 0; i < ui->nameList->count(); i++) {
-        QListWidgetItem* item = ui->nameList->item(i);
-        l << item->text();
-      }
-      NumericalConstraintPicker* ncp = new NumericalConstraintPicker(l, plugin_);
+      NumericalConstraintPicker* ncp = new NumericalConstraintPicker(plugin_);
 
       ncp->show();
     }

plugins/hppwidgetsplugin/numericalconstraintpicker.cc

@@ -13,17 +13,25 @@
 
 namespace hpp {
   namespace gui {
-    NumericalConstraintPicker::NumericalConstraintPicker(QStringList const& names,
-                                                         HppWidgetsPlugin* plugin,
+    NumericalConstraintPicker::NumericalConstraintPicker(HppWidgetsPlugin* plugin,
                                                          QWidget *parent) :
       QWidget(parent),
       ui(new Ui::NumericalConstraintPicker)
     {
       ui->setupUi(this);
-      ui->constraintList->setSelectionMode(QAbstractItemView::ExtendedSelection);
-      foreach (QString name, names) {
-        ui->constraintList->addItem(name);
+
+      hpp::Names_t_var names = plugin->client()->problem()->getAvailable("lockedjoint");
+      ui->lockedJointList->setSelectionMode(QAbstractItemView::ExtendedSelection);
+      for (unsigned i = 0; i < names->length(); ++i) {
+          ui->lockedJointList->addItem(QString(names[i]));
+      }
+
+      names = plugin->client()->problem()->getAvailable("numericalconstraint");
+      ui->numericalList->setSelectionMode(QAbstractItemView::ExtendedSelection);
+      for (unsigned i = 0; i < names->length(); ++i) {
+        ui->numericalList->addItem(QString(names[i]));
       }
+
       connect(ui->cancelButton, SIGNAL(clicked()), SLOT(onCancelClicked()));
       connect(ui->confirmButton, SIGNAL(clicked()), SLOT(onConfirmClicked()));
       plugin_ = plugin;
@@ -48,20 +56,31 @@ namespace hpp {
 
     void NumericalConstraintPicker::onConfirmClicked()
     {
-      QList<QListWidgetItem *> list = ui->constraintList->selectedItems();
+      QList<QListWidgetItem *> lj = ui->lockedJointList->selectedItems();
+      QList<QListWidgetItem *> nc = ui->numericalList->selectedItems();
+
       hpp::Names_t_var names = new hpp::Names_t;
       hpp::intSeq_var priorities = new hpp::intSeq;
 
-      names->length(list.count());
-      priorities->length(list.count());
+      names->length(nc.count());
+      priorities->length(nc.count());
       int i = 0;
-      foreach(QListWidgetItem* item, list) {
+      foreach(QListWidgetItem* item, nc) {
         names[i] = gepetto::gui::Traits<QString>::to_corba(item->text());
         priorities[i] = 0;
         i++;
       }
-      plugin_->client()->problem()->setNumericalConstraints(gepetto::gui::Traits<QString>::to_corba(ui->numericalName->text()),
+      plugin_->client()->problem()->setNumericalConstraints(gepetto::gui::Traits<QString>::to_corba(ui->constraintName->text()),
                                                             names.in(), priorities.in());
+
+      names->length(lj.count());
+      i = 0;
+      foreach(QListWidgetItem* item, lj) {
+        names[i] = gepetto::gui::Traits<QString>::to_corba(item->text());
+        i++;
+      }
+      plugin_->client()->problem()->setLockedJointConstraints(gepetto::gui::Traits<QString>::to_corba(ui->constraintName->text()),
+                                                              names.in());
       onCancelClicked();
     }
   }

plugins/hppwidgetsplugin/numericalconstraintpicker.hh

@@ -32,7 +32,7 @@ namespace hpp {
       void closeEvent(QCloseEvent* event);
 
     public:
-      explicit NumericalConstraintPicker(QStringList const& names, HppWidgetsPlugin* plugin,
+      explicit NumericalConstraintPicker(HppWidgetsPlugin* plugin,
                                          QWidget *parent = 0);
       virtual ~NumericalConstraintPicker();
 

plugins/hppwidgetsplugin/numericalconstraintpicker.ui

@@ -17,26 +17,40 @@
    <item>
     <layout class="QFormLayout" name="formLayout">
      <item row="0" column="0">
-      <widget class="QLabel" name="label_2">
+      <widget class="QLabel" name="constraintLabel">
        <property name="text">
         <string>Name</string>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
-      <widget class="QLineEdit" name="numericalName"/>
+      <widget class="QLineEdit" name="constraintName">
+       <property name="text">
+        <string>constraint</string>
+       </property>
+      </widget>
      </item>
     </layout>
    </item>
    <item>
-    <widget class="QLabel" name="label">
+    <widget class="QLabel" name="lockedJointLabel">
+     <property name="text">
+      <string>Select the locked joint constraints:</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QListWidget" name="lockedJointList"/>
+   </item>
+   <item>
+    <widget class="QLabel" name="numericalLabel">
      <property name="text">
-      <string>Select the constraint you want to add</string>
+      <string>Select the numerical constraints:</string>
      </property>
     </widget>
    </item>
    <item>
-    <widget class="QListWidget" name="constraintList"/>
+    <widget class="QListWidget" name="numericalList"/>
    </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout">